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<div class="title">approximate_progressive_morphological_filter.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/morphological_filter.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/approximate_progressive_morphological_filter.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_progressive_morphological_filter.html#a849b22e7b5536d3f314e4e6f78c6fd0f">   52</a></span>&#160;<a class="code" href="classpcl_1_1_approximate_progressive_morphological_filter.html#a849b22e7b5536d3f314e4e6f78c6fd0f">pcl::ApproximateProgressiveMorphologicalFilter&lt;PointT&gt;::ApproximateProgressiveMorphologicalFilter</a> () :</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  max_window_size_ (33),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  slope_ (0.7f),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  max_distance_ (10.0f),</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  initial_distance_ (0.15f),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  cell_size_ (1.0f),</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  base_ (2.0f),</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  exponential_ (true),</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  threads_ (0)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<a class="code" href="classpcl_1_1_approximate_progressive_morphological_filter.html">pcl::ApproximateProgressiveMorphologicalFilter&lt;PointT&gt;::~ApproximateProgressiveMorphologicalFilter</a> ()</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_progressive_morphological_filter.html#a64d34973694bdb38b70708caee0909a5">   72</a></span>&#160;<a class="code" href="classpcl_1_1_approximate_progressive_morphological_filter.html#a64d34973694bdb38b70708caee0909a5">pcl::ApproximateProgressiveMorphologicalFilter&lt;PointT&gt;::extract</a> (std::vector&lt;int&gt;&amp; ground)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = initCompute ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">if</span> (!segmentation_is_possible)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="comment">// Compute the series of window sizes and height thresholds</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  std::vector&lt;float&gt; height_thresholds;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  std::vector&lt;float&gt; window_sizes;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  std::vector&lt;int&gt; half_sizes;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">int</span> iteration = 0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordtype">int</span> half_size = 0.0f;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">float</span> window_size = 0.0f;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">float</span> height_threshold = 0.0f;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">while</span> (window_size &lt; max_window_size_)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="comment">// Determine the initial window size.</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">if</span> (exponential_)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      half_size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (base_), iteration));</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      half_size = (iteration+1) * base_;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    window_size = 2 * half_size + 1;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">// Calculate the height threshold to be used in the next iteration.</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">if</span> (iteration == 0)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      height_threshold = initial_distance_;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      height_threshold = slope_ * (window_size - window_sizes[iteration-1]) * cell_size_ + initial_distance_;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">// Enforce max distance on height threshold</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">if</span> (height_threshold &gt; max_distance_)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      height_threshold = max_distance_;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    half_sizes.push_back (half_size);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    window_sizes.push_back (window_size);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    height_thresholds.push_back (height_threshold);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    iteration++;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// setup grid based on scale and extents</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  Eigen::Vector4f global_max, global_min;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  pcl::getMinMax3D&lt;PointT&gt; (*input_, global_min, global_max);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordtype">float</span> xextent = global_max.x () - global_min.x ();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">float</span> yextent = global_max.y () - global_min.y ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordtype">int</span> rows = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::floor (yextent / cell_size_) + 1);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">int</span> cols = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::floor (xextent / cell_size_) + 1);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  Eigen::MatrixXf A (rows, cols);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  A.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  Eigen::MatrixXf Z (rows, cols);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  Z.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  Eigen::MatrixXf Zf (rows, cols);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  Zf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; (int)input_-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="comment">// ...then test for lower points within the cell</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p = input_-&gt;points[i];</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">int</span> row = std::floor((p.y - global_min.y ()) / cell_size_);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordtype">int</span> col = std::floor((p.x - global_min.x ()) / cell_size_);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">if</span> (p.z &lt; A (row, col) || pcl_isnan (A (row, col)))</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      A (row, col) = p.z;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="comment">// Ground indices are initially limited to those points in the input cloud we</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="comment">// wish to process</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  ground = *indices_;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="comment">// Progressively filter ground returns using morphological open</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; window_sizes.size (); ++i)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;      Iteration %d (height threshold = %f, window size = %f, half size = %d)...&quot;</span>,</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;               i, height_thresholds[i], window_sizes[i], half_sizes[i]);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// Limit filtering to those points currently considered ground returns</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    pcl::copyPointCloud&lt;PointT&gt; (*input_, ground, *cloud);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="comment">// Apply the morphological opening operation at the current window size.</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; rows; ++row)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordtype">int</span> rs, re;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      rs = ((row - half_sizes[i]) &lt; 0) ? 0 : row - half_sizes[i];</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      re = ((row + half_sizes[i]) &gt; (rows-1)) ? (rows-1) : row + half_sizes[i];</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col = 0; col &lt; cols; ++col)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordtype">int</span> cs, ce;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        cs = ((col - half_sizes[i]) &lt; 0) ? 0 : col - half_sizes[i];</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        ce = ((col + half_sizes[i]) &gt; (cols-1)) ? (cols-1) : col + half_sizes[i];</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">float</span> min_coeff = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = rs; j &lt; (re + 1); ++j)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = cs; k &lt; (ce + 1); ++k)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            <span class="keywordflow">if</span> (A (j, k) != std::numeric_limits&lt;float&gt;::quiet_NaN ())</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;              <span class="keywordflow">if</span> (A (j, k) &lt; min_coeff)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                min_coeff = A (j, k);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">if</span> (min_coeff != std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          Z(row, col) = min_coeff;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; rows; ++row)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordtype">int</span> rs, re;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      rs = ((row - half_sizes[i]) &lt; 0) ? 0 : row - half_sizes[i];</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      re = ((row + half_sizes[i]) &gt; (rows-1)) ? (rows-1) : row + half_sizes[i];</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col = 0; col &lt; cols; ++col)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordtype">int</span> cs, ce;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        cs = ((col - half_sizes[i]) &lt; 0) ? 0 : col - half_sizes[i];</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        ce = ((col + half_sizes[i]) &gt; (cols-1)) ? (cols-1) : col + half_sizes[i];</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordtype">float</span> max_coeff = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = rs; j &lt; (re + 1); ++j)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = cs; k &lt; (ce + 1); ++k)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            <span class="keywordflow">if</span> (Z (j, k) != std::numeric_limits&lt;float&gt;::quiet_NaN ())</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;              <span class="keywordflow">if</span> (Z (j, k) &gt; max_coeff)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                max_coeff = Z (j, k);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;            }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordflow">if</span> (max_coeff != -std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          Zf (row, col) = max_coeff;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">// Find indices of the points whose difference between the source and</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// filtered point clouds is less than the current height threshold.</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    std::vector&lt;int&gt; pt_indices;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> p_idx = 0; p_idx &lt; ground.size (); ++p_idx)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx];</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordtype">int</span> erow = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::floor ((p.y - global_min.y ()) / cell_size_));</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordtype">int</span> ecol = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::floor ((p.x - global_min.x ()) / cell_size_));</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordtype">float</span> diff = p.z - Zf (erow, ecol);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keywordflow">if</span> (diff &lt; height_thresholds[i])</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        pt_indices.push_back (ground[p_idx]);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    A.swap (Zf);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="comment">// Ground is now limited to pt_indices</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    ground.swap (pt_indices);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;ground now has %d points\n&quot;</span>, ground.size ());</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;}</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ApproximateProgressiveMorphologicalFilter(T) template class pcl::ApproximateProgressiveMorphologicalFilter&lt;T&gt;;</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_approximate_progressive_morphological_filter_html"><div class="ttname"><a href="classpcl_1_1_approximate_progressive_morphological_filter.html">pcl::ApproximateProgressiveMorphologicalFilter</a></div><div class="ttdoc">Implements the Progressive Morphological Filter for segmentation of ground points....</div><div class="ttdef"><b>Definition:</b> approximate_progressive_morphological_filter.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_progressive_morphological_filter_html_a64d34973694bdb38b70708caee0909a5"><div class="ttname"><a href="classpcl_1_1_approximate_progressive_morphological_filter.html#a64d34973694bdb38b70708caee0909a5">pcl::ApproximateProgressiveMorphologicalFilter::extract</a></div><div class="ttdeci">virtual void extract(std::vector&lt; int &gt; &amp;ground)</div><div class="ttdoc">This method launches the segmentation algorithm and returns indices of points determined to be ground...</div><div class="ttdef"><b>Definition:</b> approximate_progressive_morphological_filter.hpp:72</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_progressive_morphological_filter_html_a849b22e7b5536d3f314e4e6f78c6fd0f"><div class="ttname"><a href="classpcl_1_1_approximate_progressive_morphological_filter.html#a849b22e7b5536d3f314e4e6f78c6fd0f">pcl::ApproximateProgressiveMorphologicalFilter::ApproximateProgressiveMorphologicalFilter</a></div><div class="ttdeci">ApproximateProgressiveMorphologicalFilter()</div><div class="ttdoc">Constructor that sets default values for member variables.</div><div class="ttdef"><b>Definition:</b> approximate_progressive_morphological_filter.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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